Research of the Stiffness Identification and Error Compensation of Industrial Robot Under Heavy Load
Intends to accurately identify joint stiffness parameters of industrial robot under heavy load condition,firstly,dexterity of the robot in joint space and workspace is determined based on the Frobenius norm of Jacobian matrix,then,the integrated model of load and robot are built by using equivalent...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2017-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.05.007 |
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| author | Wang Xu Li Dongsheng Wang Mingming |
| author_facet | Wang Xu Li Dongsheng Wang Mingming |
| author_sort | Wang Xu |
| collection | DOAJ |
| description | Intends to accurately identify joint stiffness parameters of industrial robot under heavy load condition,firstly,dexterity of the robot in joint space and workspace is determined based on the Frobenius norm of Jacobian matrix,then,the integrated model of load and robot are built by using equivalent torque method,and finally,a deformation error compensation method by directly calculating joint deformation and compensating is put forward. The laser tracker and ABB IRB 6 640 robot are used to conduct kinematic error compensation experiment,joint stiffness identification experiment and joint deformation compensation experiment. The results show this method can effectively compensate joint deformation and thus improve the absolute accuracy of the robot. The positioning error of the robot is significantly reduced from 0. 694 mm to 0. 230 mm,with an accuracy improvement by roughly 67%. |
| format | Article |
| id | doaj-art-305735aca1ae4121aa2ac1e36df57369 |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2017-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-305735aca1ae4121aa2ac1e36df573692025-01-10T14:23:02ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392017-01-0141303329930101Research of the Stiffness Identification and Error Compensation of Industrial Robot Under Heavy LoadWang XuLi DongshengWang MingmingIntends to accurately identify joint stiffness parameters of industrial robot under heavy load condition,firstly,dexterity of the robot in joint space and workspace is determined based on the Frobenius norm of Jacobian matrix,then,the integrated model of load and robot are built by using equivalent torque method,and finally,a deformation error compensation method by directly calculating joint deformation and compensating is put forward. The laser tracker and ABB IRB 6 640 robot are used to conduct kinematic error compensation experiment,joint stiffness identification experiment and joint deformation compensation experiment. The results show this method can effectively compensate joint deformation and thus improve the absolute accuracy of the robot. The positioning error of the robot is significantly reduced from 0. 694 mm to 0. 230 mm,with an accuracy improvement by roughly 67%.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.05.007Industrial robotCalibrationJoint stiffnessError compensationHeavy load |
| spellingShingle | Wang Xu Li Dongsheng Wang Mingming Research of the Stiffness Identification and Error Compensation of Industrial Robot Under Heavy Load Jixie chuandong Industrial robot Calibration Joint stiffness Error compensation Heavy load |
| title | Research of the Stiffness Identification and Error Compensation of Industrial Robot Under Heavy Load |
| title_full | Research of the Stiffness Identification and Error Compensation of Industrial Robot Under Heavy Load |
| title_fullStr | Research of the Stiffness Identification and Error Compensation of Industrial Robot Under Heavy Load |
| title_full_unstemmed | Research of the Stiffness Identification and Error Compensation of Industrial Robot Under Heavy Load |
| title_short | Research of the Stiffness Identification and Error Compensation of Industrial Robot Under Heavy Load |
| title_sort | research of the stiffness identification and error compensation of industrial robot under heavy load |
| topic | Industrial robot Calibration Joint stiffness Error compensation Heavy load |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2017.05.007 |
| work_keys_str_mv | AT wangxu researchofthestiffnessidentificationanderrorcompensationofindustrialrobotunderheavyload AT lidongsheng researchofthestiffnessidentificationanderrorcompensationofindustrialrobotunderheavyload AT wangmingming researchofthestiffnessidentificationanderrorcompensationofindustrialrobotunderheavyload |